Vector Control of Three-Phase Induction Motor(RL78/G14)
Transcript of Vector Control of Three-Phase Induction Motor(RL78/G14)
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APPLICATION NOTE
R01AN2656EJ0100 Rev.1.00 Page 1 of 39
Mar. 16, 2015
Vector Control of Three-Phase Induction Motor
RL78/G14
Abstract
This application note aims at explaining sample programs for operating vector control of three-phase induction motors, by using the RL78/G14 microcontroller, and how to use a library of the development support tool, In Circuit Scope.
The sample programs are only to be used as reference and Renesas Electronics Corporation does not guarantee the operations. Please use the sample programs after carrying out a thorough evaluation in a suitable environment.
In particular, the use of high voltage is extremely dangerous. Before using each development environment, be sure to read respective user’s manuals carefully. Renesas Electronics assumes no liability whatsoever for any damages arising from the use of development environment described in this application note.
Operation Confirmation Device
The sample programs described in this application note have been confirmed with the device below.
RL78/G14 (R5F104LEA)
Target Sample Programs
The target sample programs of this application note are shown below.
RL78G14_T1102_3IM_LESS_FOC_CSP_V100
Vector control sample program of a three-phase induction motor for RL78/G14 (R5F104LEA) T1102
Reference Documents
RL78/G14 User’s Manual: Hardware (R01UH0186EJ0200)
Vector Control of Three-phase Induction Motor: Algorithm (R01AN2193EJ0100)
‘In Circuit Scope Manual’ and ‘How to set CubeSuite+ for using ICS’
Downloadable from: http://www.desktoplab.co.jp/download.html
Trial series “T1102” 3kW 4kVA Inverter Unit User’s Manual
Trial series “T5101” RL78G14 64pin CPU card User’s Manual
R01AN2656EJ0100Rev.1.00
Mar. 16, 2015
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Vector Control of Three-Phase Induction Motor RL78/G14
R01AN2656EJ0100 Rev.1.00 Page 2 of 39
Mar. 16, 2015
Contents
1. Overview ........................................................................................................................................... 3
2. System Overview .............................................................................................................................. 4
3. Control Program .............................................................................................................................. 10
4. Development Support Tool: In Circuit Scope .................................................................................. 37
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Vector Control of Three-Phase Induction Motor RL78/G14
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Mar. 16, 2015
1. Overview
This application note explains the sample programs for operating vector control of three-phase induction motors, by using the RL78/G14 microcontroller, and how to use a library of the development support tool, In Circuit ScopeNote1 (hereinafter referred to as ICS). These sample programs use algorithm described in application notes: ‘Vector Control of Three-phase Induction Motor: Algorithm’.
1.1 Development Environment Table 1-1 shows development environment for the target sample programs of this application note.
Table 1-1 Development Environment for the Sample Programs
Microcontroller Inverter board Motor CS+
R5F104LEAFP T1102 Note1 SF-JR-4P-0.75kw Note2 V3.00.00
Please contact Renesas Electronics sales agents for purchase and technical support of the inverter board T1102.
Notes
1. The inverter board T1102 and the development support tool In Circuit Scope are the products of Desk Top Laboratories Inc.
Desk Top Laboratories Inc. (http://www.desktoplab.co.jp/)
2. SF-JR-4P-0.75kw is the products of MITSUBISHI ELECTRIC CO., LTD.
MITSUBISHI ELECTRIC CO., LTD. (http://www.mitsubishielectric.com/fa/index.html )
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Vector Control of Three-Phase Induction Motor RL78/G14
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2. System Overview
Overview of this system is explained below.
2.1 Hardware Configuration Hardware configuration is illustrated below.
RL78/G14
A/D converter input
Bus voltage
Timer RD output
Over current detection
Power supply/PFC circuit220Vinput
LED output
LED1 LED2
Over current detection input
Up
Vp
Wp
Vn
Un
Wn
Inverter circuit
Phase current detection
OCVuVvVwIu Iw
P22 / ANI2
P52
P53
P15 / TRDIOB0 (Up)
P13 / TRDIOA1 (Vp)
P12 / TRDIOB1 (Wp)
P14 / TRDIOD0 (Un)P11 / TRDIOC1 (Vn)
P10 / TRDIOD1 (Wn)
P137 / INTP0
ACIM
P20 / ANI0IU_AIN
Phasecurrent
Iv
P21 / ANI1IW_AIN
VTEMP
IPM temperature
detection
VTEMP_AIN IPM temperature
P27 / ANI7
Figure 2-1 Hardware Configuration Diagram
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2.2 Hardware Specifications
2.2.1 User Interface A list of user interfaces of this system is given in Table 2-1.
Table 2-1 User Interface
Item Interface component Function
LED1 Yellow green LED At the time of Motor rotation: ON At the time of stop: OFF
LED2 Yellow green LED At the time of error detection: ON At the time of normal operation: OFF
RESET Push switch (RESET1) System reset
Table 2-2 is a list of terminal interfaces of this system.
Table 2-2 Terminal Interface
R5F104LEA Terminal name
Function
P52 LED1 ON/OFF control P53 LED2 ON/OFF control P55 Inrush current prevention circuit relay P20 / ANI0 U phase current measurement P21 / ANI1 W phase current measurement P22 / ANI2 Bus voltage measurement P27 / ANI7 IPM temperature measurement P15 / TRDIOB0 PWM output (Up) P13 / TRDIOA1 PWM output (Vp) P12 / TRDIOB1 PWM output (Wp) P14 / TRDIOD0 PWM output (Un) P11 / TRDIOC1 PWM output (Vn) P10 / TRDIOD1 PWM output (Wn) P137 / INTP0 Over current detection
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Vector Control of Three-Phase Induction Motor RL78/G14
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2.2.2 Peripheral Functions Table 2-3 shows a list of peripheral functions used for this system.
Table 2-3 Peripheral Functions for Each Sample Program
10-bit A/D Timer array unit Timer RD
Current of each U/W phase
Inverter bus voltage
IPM temperature
125 [μs] interval timer
1 [ms] interval timer
Complimentary PWM output
Pulse output forced shut down
1. 10-bit A/D converter
A 10-bit A/D converter is used for measuring the U phase current, W phase current, inverter bus voltage, and IPM temperature.
‘Software trigger mode (select mode, one-shot conversion mode)’ is used for conversion mode.
2. Timer array unit Channel 0 and channel 1 of unit 0 are used for 125-μs interval timer and 1-ms interval timer respectively.
3. Timer RD
Output with dead time (“High” active) is perfomed using the complementary PWM mode. The pulse output forced shut down function is used with over current signals from IPM.
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Vector Control of Three-Phase Induction Motor RL78/G14
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2.3 Software Configuration
2.3.1 Software File Configuration Folder and file configuration of the sample programs are given in Table 2-4.
Table 2-4 Folder and File Configuration of the Sample Program
RL78G14_T1102_3IM_LESS_F
OC_CSP_V100
inc main.h Main function, user interface control header
mtr_common.h Common definition header
mtr_ctrl_rl78g14.h RL78/G14 dependent processing header
mtr_ctrl_rl78g14_t1102.h Board & RL78/G14 dependent processing header
mtr_ctrl_t1102.h Board dependent processing header
mtr_3im_less_foc.h Vector control header
control_parameter.h Control parameter header
motor_parameter.h Motor parameter header
r_dsp.h Header for operation library
r_stdint.h Header for operation library
ics ics_R5F104LE.rel ICS library
RL78G14_vector.c Vector setting for ICS
ics_R5F104LE.h Header for ICS
lib angle_speed_R5F104LE.rel Angle and speed estimation library
R_dsp_rl78.lib Operation library
src main.c Main function, user interface control
mtr_ctrl_rl78g14.c RL78/G14 dependent processing
mtr_ctrl_rl78g14_t1102.c Board & RL78/G14 dependent processing
mtr_ctlr_t1102.c Board dependent processing
mtr_interrupt.c Interrupt handler
mtr_3im_less_foc.c Vector control
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Vector Control of Three-Phase Induction Motor RL78/G14
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2.3.2 Module Configuration Figure 2-2 and Table 2-5 show the module configuration of the sample programs.
Table 2-5 Module Structure of the Sample Programs
Application layer main.c
Motor control layer mtr_3im_less_foc.c
H/W control layer
mtr_ctrl_rl78g14_t1102.c
mtr_ctrl_rl78g14.c
mtr_ctrl_t1102.c
Application layer User interface control
H/W control layer Microcontroller dependent processing part, Inverter board dependent processing part
H/W Inverter board (T1102), Microcontroller (RL78/G14)
Motor control layer Vector control
Figure 2-2 Module Configuration of the Sample Programs
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2.4 Software Specifications Table 2-7 shows basic software specifications of this system. For details on vector control, refer to the application note
‘Vector control of Three-phase Induction Motor: Algorithm.
Table 2-6 Basic Specification of Sensorless Vector Control Software
Item Content
Control method Vector control Motor rotation start/stop Input from ICS Note1 Position detection sensor Sensorless Input voltage AC220 V Carrier frequency (PWM) 16 [kHz] Control cycle 125 [μs] (Carrier cycle × 2) Inverter output frequency range
500 [rpm] to 2000 [rpm] Note2
Processing stop for protection
Disables the motor control signal output (six outputs), under any of the following five conditions.
1. Current of each phase exceeds 10 [A] (monitored per 125 [μs]) 2. Inverter bus voltage exceeds 400 [V] (monitored per 125 [μs]) 3. Inverter bus voltage is less than 85 [V] (monitored per 125 [μs]) 4. Rotation speed exceeds 2400[rpm] (monitored per 125 [μs]) 5. IPM temperature output value exceeds 3 [V] (60 ± 10 [˚C]) (monitored per 125 [μs])
When an external over current signal is detected (when low level of the INTP0 port is detected), the ports executing PWM output are set to high impedance state.
Note:
1. For more details, refert to 4. Development Support Tool: In Circuit Scope.
2. There may be a difference in the speed and the reference speed depending on environment.
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3. Control Program
The target sample programs of this application note are explained here.
3.1 Contents of Control
3.1.1 Motor Start/Stop Starting and stopping the motor are controlled by input from ICS.
3.1.2 Inverter Output Frequency Command Change Amount The variation amount of the inverter output frequency command is determined by input from ICS.
3.1.3 Inverter Bus Voltage
The inveter bus voltage is measured as shown in below table.
It is used for calculating the modulation factor and detecting over voltage (PWM is stopped in case of the occurrence of the abnormality)
Table 3-1 Inverter Bus Voltage Conversion Ratio
Item Conversion ratio (Inverter bus voltage : A/D conversion value)
Channel
Inverter bus voltage
0 [V] to 686.5 [V] : 0000H to 03FFH ANI2
3.1.4 Phase Current As shown in the below table, U phase and W phase currents are measured to be used for over current detection.
Table 3-2 Conversion Ratio of U and W Phase Current
Item Conversion ratio (U phase, W phase current : A/D conversion
ratio)
Channel
U phase, W phase current
-50 [A] to 50 [A] : 0000H to 03FFH Iu : ANI0 Iw : ANI1
3.1.5 IPM Temperature The IPM temperature is measured as shown in Table 3-4 and used for IPM temperature error detection.
For the relation of IPM temperature and the voltage, refer to the datasheet of IPM.
Table 3-3 Conversion Ratio of IPM temperature
Item Conversion ratio (IPM temperature: A/D conversion value)
Channel
IPM temperature
0 [V] to 5 [V]: 0000H to 03FFH ANI7
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3.1.6 Modulation The target sample software of this application note uses pulse width modulation (hereinafter called PWM) and the
triangular wave comparison method to generate the input voltage to the motor and the PWM waveform respectively.
(1) Triangular wave comparison method
As one of the methods to actually output the command value voltage, the triangular wave comparison method which determines the pulse width of the output voltage by comparing the carrier waveform (triangular wave) and command value voltage waveform is used. Output of the command value voltage of the pseudo sinusoidal wave can be performed by turning the switch on or off when the command value voltage is larger or smaller than the carrier wave voltage respectively.
Figure 3-1 Conceptual Diagram of the Triangular Wave Comparison Method
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Here, as shown in the Figure 3-2, the ratio of the output voltage pulse to the carrier wave is called duty.
Figure 3-2 Definition of Duty
Modulation factor m is defined as follows.
A desired control can be performed by setting this modulation factor to the register which determines the PWM duty.
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3.1.7 State Transition Figure 3-3 is a state transition diagram of the vector control software.
Figure 3-3 Sate Transition Diagram of Vector Control Software
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3.1.8 System Protection Function These control programs have the following four types of error status and execute emergency stop functions in case of
occurrence of respective errors. Table 3-4 shows each setting value for the system protection function.
• Over current error High impedance output is made to the PWM output port in response to an emergency stop signal (over current
detection) from hardware. In addition, U, V, and W phase currents are monitored. When an over current (when the current exceeds the over current limit value) is detected, the CPU executes emergency stop (software detection).
• Over voltage error The inverter bus voltage is monitored by over current monitoring cycles. When an over voltage is detected (when the
voltage exceeds the over voltage limit value), the CPU performs emergency stop.
• Low voltage error The inverter bus voltage is monitored by low-voltage monitoring cycles. The CPU performs emergency stop when
low voltage (when voltage falls below the limit value) is detected.
Over speed error The rotation speed is monitored in rotation speed monitoring cycle. The CPU performs emergency stop when the
speed is over the limit value.
• IPM temperature error The IPM temperature is monitored by IPM temperature monitoring cycles. When high temperature is detected (when
it exceeds the IPM temperature limit value), the CPU performs emergency stop
Table 3-4 Setting Value of Each System Protection Function
Over current error Over current limit value [A] 10
Monitoring cycle [μs] 125
Over voltage error Over voltage limit value [V] 400
Monitoring cycle [μs] 125
Low voltage error Low voltage limit value [V] 85
Monitoring cycle [μs] 125
Rotation speed abnormality error
Speed limit value [rpm] 2400
Monitoring cycle [μs] 125
IPM temperature error High temperature limit value [V] 3
Monitoring cycle [μs] 125
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3.2 Function Specifications of V/f Control Software These control programs use multiple control functions. The following tables show lists of the control functions.
For more details on processing, refer to flowcharts or source files.
Table 3-5 List of Control Functions (1/6)
File name Function name Processing overview
main.c main
Input: None
Output: None
Hardware initialization function call
User interface initialization function call
Initialization function call of the variable used in the
main processing
Status transition and event execution function call
Main processing
Main process execution function call
Watchdog timer clear function call
ics_ui
Input: None
Output: None
Using ICS user interface
software_init
Input: None
Output: None
Initialization of the variable used in the main processing
mtr_ctrl_t1102.c R_MTR_ChargeCapacitor
Input: None
Output: None
Wait for smoothing capacitor charge time
ic_gate_on
Input: None
Output: None
Turn a gate signal for inrush current prevention ON
led1_on
Input: None
Output: None
Turning LED1 ON
led2_on
Input: None
Output: None
Turning LED2 ON
led1_off
Input: None
Output: None
Turning LED1 OFF
led2_off
Input: None
Output: None
Turning LED2 OFF
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Table 3-6 List of Control Functions (2/6)
Table 3-7 List of Control Functions (3/6)
File name Function name Processing overview
mtr_interrupt.c mtr_over_current_interrupt
Input: None
Output: None
Over current detection processing
Event processing selection function call
Changing the motor status
High impedance state clearing function call
mtr_tau00_interrupt
Input: None
Output: None
Calling per 125 [μs]
Vector control
Current PI control
mtr_tau01_interrupt
Input: None
Output: None
Calling per 1 [ms]
Startup control
・Speed PI control
File name Function name Processing overview mtr_ctrl_rl78g14.c R_MTR_InitHardware
Input: None
Output: None
Initialization of the clock and peripheral functions
mtr_init_clock
Input: None
Output: None
Initialization of CLOCK
mtr_init_tau
Input: None
Output: None
Initialization of the timer array unit
mtr_init_intp
Input: None
Output: None
Initialization of INTP0
mtr_init_ic_gate
Input: None
Output: None
Initialization of the inrush current gate
clear_wdt
Input: None
Output: None
Clearing the watchdog timer
mtr_clear_oc_flag
Input: None
Output: None
Clearing the high impedance state
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Table 3-8 List of Control Functions (4/6)
File name Function name Processing overview
mtr_3im_less_foc.c
R_MTR_InitSequence
Input: None
Output: None
Initialization of the sequence processing
R_MTR_ExecEvent
Input: (uint8)u1_event / occurred event
Output: None
Changing the status
Calling an appropriate process execution function for the occurred event
mtr_act_run
Input: (uint8)u1_state / motor status
Output: (uint8)u1_state / motor status
Variable initialization function call upon motor startup
Motor control start function call
mtr_act_stop
Input: (uint8)u1_state / motor status
Output: (uint8)u1_state / motor status
Motor control stop function call
mtr_act_none
Input: (uint8)u1_state / motor status
Output: (uint8)u1_state / motor status
No processing is performed.
mtr_act_reset
Input: (uint8)u1_state / motor status
Output: (uint8)u1_state / motor status
Initialization of the global variables
mtr_act_error
Input: (uint8)u1_state / motor status
Output: (uint8)u1_state / motor status
Motor control stop function call
mtr_start_init
Input: None
Output: None
Initializes only those variables needed at motor startup
mtr_angle_speed
Input: None
Output: None
Position and speed calculation processing
mtr_pi_ctrl
Input: MTR_PI_CTRL *pi_ctrl / structure for PI control
Output: (int16)s2_ref / PI 制御出力値
PI control
mtr_set_variables
Input: None
Output: None
Setting motor variables
R_MTR_IcsInput
Input: MTR_ICS_INPUT *ics_input
/structure for ICS
Output: None
Setting the buffer
R_MTR_GetSpeed
Input: None
Output: (int16)g_s2_speed_rpm /
motor speed
Acquires the speed calculation value
R_MTR_GetDir
Input: None
Output: (uint8) g_u1_direction
Acquires the direction of rotation
R_MTR_GetStatus
Input: None
Output: (uint8)g_u1_mode_system /
motor status
Obtaining the motor status
mtr_error_check
Input: None
Output: None
Monitoring and detecting errors
mtr_set_speed_ref
Input: None
Output: None
Sets the command used for speed control
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Table 3-9 List of Control Functions (5/6)
File name Function name Processing overview
mtr_3im_less_foc.c
mtr_set_id_ref
Input: None
Output: None
Sets the axis current command
mtr_set_iq_ref
Input: None
Output: None
Sets the axis current command
mtr_calc_mod
Input: (int16)s2_vu /
(int16)s2_vv /
(int16)s2_vv /
(uint16)u2_vdc /
Output: None
Modulation factor calculation
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Table 3-10 List of Control Functions (6/6)
File name Function name Processing overview
mtr_ctrl_rl78g14_t1102.c mtr_init_trd
Input: None
Output: None
Initial setting of the timer RD
mtr_init_ad_converter
Input: None
Output: None
Initial setting of the A/D converter
init_ui
Input: None
Output: None
Initialization of UI
mtr_ctrl_start
Input: None
Output: None
Motor start processing
mtr_ctrl_stop
Input: None
Output: None
Motor stop processing
mtr_get_adc
Input: uint8 ad_ch/
AD conversion channel
Output: u2_temp /
AD conversion value
AD conversion
mtr_inv_set_uvw
Input: int16 s2_u / U phase modulation factor
: int16 s2_v / V phase modulation factor
: int16 s2_w / W phase modulation factor
Output: None
Setting PWM output
mtr_init_register
Input: None
Output: None
Initial setting of PWM
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3.3 Vector Control Software Variables Lists of variables used in these control programs are given below. Note that the local variables are not mentioned.
Table 3-11 List of Variables (1/3)
Variable name Type Q Content Remarks
g_u1_mode_system unit8 - State management 0 : Stop mode
1 : Run mode
2 : Error mode
g_u2_run_mode unit16 - Operation mode management 0: Boot mode
1: Start mode
2: Control mode
g_u2_ctrl_mode unit16 - Control mode 1: Open loop mode
5: Sensorless vector control
mode
g_u1_error_status unit8 - Error status management 1 : Over current error
2 : Over voltage error
7 : Low voltage error
8 : IPM temperature error
0xFF : Undefined error
g_u1_cnt_ics uint8 - ICS counter
g_s2_vdc_ad int16 Q6 Inverter bus voltage [V]
g_s2_vd_ref int16 Q6 axis output voltage command [V]
g_s2_vq_ref int16 Q6 axis output voltage command [V]
g_s2_va_ref int16 Q6 a axis output voltage command value [V]
g_s2_vb_ref int16 Q6 b axis output voltage command value [V]
g_s2_iu_ad int16 Q12 U phase current [A]
g_s2_iu_lpf int16 Q12 U phase current(LPF) [A]
g_s2_pre_iu_lpf int16 Q12 Previous U phase current value [A]
g_s2_iv_lpf int16 Q12 V phase current(LPF) [A]
g_s2_iw_ad int16 Q12 W phase current [A]
g_s2_iw_lpf int16 Q12 W phase current(LPF) [A]
g_s2_pre_iw_lpf int16 Q12 Previous W axis current value [A]
g_s2_offset_iu int16 Q12 U phase current offset value [A]
g_s2_offset_iw int16 Q12 W phase current offset value [A]
g_s2_ia_lpf int16 Q10 a phase current(LPF) [A]
g_s2_ib_lpf int16 Q10 b phase current(LPF) [A]
g_s2_id_lpf int16 Q12 phase current(LPF) [A]
g_s2_iq_lpf int16 Q12 phase current(LPF) [A]
g_s2_kp_iq int16 Q10 axis current PI control proportional gain
g_s2_ki_iq int16 Q10 axis current PI control integral gain
g_s2_kp_speed int16 Q14 speed PI control proportional gain
g_s2_ki_speed int16 Q22 speed PI control integral gain
g_s2_lim_stator_speed
_rad
int16 Q6 Stator speed PI control limit value Electrical angle [rad/s]
g_s4_ilim_stator_spee
d_rad
int32 Q22 Stator speed PI control integral limit value Electrical angle [rad/s]
g_s2_id_ref int16 Q12 axis current command [A]
g_s2_iq_ref int16 Q12 axis current command [A]
g_s2_ref_stator_speed
_rad
int16 Q6 Stator speed command Electrical angle [rad/s]
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Table 3-12 List of Variables (2/3)
Variable name Type Q Content Remarks
g_s2_slip_speed_rad int16 Q6 Slip speed Electrical angle [rad/s]
g_s2_slip_k int16 Q10 Slip speed gain
g_s2_speed_rad int16 Q6 Calculated speed value Electrical angle [rad/s]
g_s2_ref_speed_rad_pi int16 Q6 Command value for speed PI control Electrical angle [rad/s]
g_s2_ref_speed_rad int16 Q6 Speed command Electrical angle [rad/s]
g_s2_angle_rad int16 Q12 Stator interlinkage flux phase [rad]
g_s2_max_speed_rad int16 Q6 Maximum speed command value
g_s2_min_speed_rad int16 Q6 Minimum speed command value
g_s2_refu int16 Q6 U phase voltage command [V]
g_s2_refv int16 Q6 V phase voltage command [V]
g_s2_refw int16 Q6 W phase voltage command [V]
g_s2_inv_limit int16 Q6 Phase voltage limit value [V]
g_s2_speed_lpf_k int16 Q14 Speed LPF gain
g_s2_current_lpf_k int16 Q14 Current LPF gain
g_s2_offset_lpf_k int16 Q14 Current offset LPF gain
g_u1_direction uint8 - Rotation direction 0: CW
1: CCW
g_u1_dir_buf uint8 - Command rotation direction 0: CW
1: CCW
g_u1_enable_write uint8 - Variable for ICS UI
g_u2_cnt_adjust uint16 - Counter for current offset calculation
g_s2_id_ref_buf int16 Q12 Variable for storing axis current command [A]
g_s2_iq_ref_buf int16 Q12 Variable for storing axis current command [A]
g_u1_flag_id_ref uint8 - axis current command management flag 0: axis current = 0
1: Speed PI output
g_u1_flag_iq_ref uint8 - q axis current command value management
flag
0: q axis current 0
1: Speed PI output
2: q axis current increase
3: q axis current decrease
g_s2_temp_speed_rad int16 Q6 Variable to store speed Electrical angle [rad/s]
g_s2_temp_ref_speed_r
ad
int16 Q6 Variable to store speed command value Electrical angle [rad/s]
g_s2_angle_compensati
on
int16 - Phase compensation constant
g_s2_offset_calc_time int16 - Current offset calculation time [ms]
g_s2_accel int16 Q6 Acceleration [rad/s2]
g_s2_voltage_drop int16 Q6 Voltage drop correction threshold [V]
g_s2_voltage_drop_k int16 Q6 Voltage drop correction gain
g_s2_modu int16 Q12 U phase modulation factor
g_s2_modv int16 Q12 V phase modulation factor
g_s2_modw int16 Q12 W phase modulation factor
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Table 3-13 List of Variables (3/3)
Variable name Type Q Content Remarks
g_u1_flag_offset_calc uint8 - Current offset calculation flag 0: Calculated at transition to boot mode
1: Calculated at transition to boot mode (first time only)
g_s2_boot_id_up_step int16 Q12 axis current step at startup [A]
g_s2_fluctuation_limit int16 Q6 Speed fluctuation limit [rad/s]
g_s2_ctrl_ref_id int16 Q12 axis current command [A]
g_u2_cnt_id_const uint16 - axis current and flux stabilization wait time counter
g_s2_id_const_time int16 - axis current and flux stabilization wait time
[ms]
g_s2_ipm_temperature_
ad
int16 Q12 IPM temperature voltage conversion value
[V]
g_s2_iq_pip int16 Q12 speed PI control proportional output [A]
g_s4_iq_pii int32 Q28 speed PI control integral output [A]
g_u1_flag_speed_ref uint8 - Speed command management flag 0: Speed = 0
1: Speed changes
g_s2_id_ref_slip_lim int16 Q12 axis current command limit for slip speed gain calculate
[A]
stator_speed MTR_
PI_CT
RL
- Stator speed PI control structure
mtr_p MTR_
PARA
METE
R
- Motor parameters and control parameters
ics_input_buff MTR_I
CS_IN
PUT
- ICS UI structure
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3.4 Vector Control Software Structures A list of structure used in these control programs is given below.
Table 3-14 List of Structure(1/3)
Member name Type Q Content Remarks
MTR_ICS_INPUT s2_ref_speed int16 - Speed command Mechanical angle [rpm]
s2_direction int16 - Rotation direction 0: CW
1: CCW
s2_kp_speed int16 Q10 Speed PI control proportional gain
s2_ki_speed int16 Q10 Speed PI control integral gain
s2_kp_iq int16 Q14 axis current PI control proportional gain
s2_ki_iq int16 Q22 axis current PI control integral gain
s2_speed_lpf_k int16 Q14 Speed LPF gain
s2_current_lpf_k int16 Q14 Current LPF gain
s2_mtr_rs int16 Q13 Stator resistance []
s2_mtr_rr int16 Q13 Rotor resistance []
s2_mtr_m int16 Q17 Magnetizing inductance [H]
s2_mtr_lls int16 Q24 Stator leakage inductance [H]
s2_mtr_llr int16 Q24 Rotor leakage inductance [H]
s2_offset_lpf_k int16 Q14 Current offset LPF gain
s2_max_speed int16 - Maximum speed Mechanical angle [rpm]
s2_min_speed int16 - Minimum speed Mechanical angle [rpm]
s2_ctrl_ref_id int16 Q12 axis current command [A]
s2_id_ref_slip_lim int16 Q12 axis current command limit for slip speed gain calculate
[A]
s2_boot_id_up_time int16 - axis current/flux stabilization wait time
[ms]
s2_id_const_time int16 - Speed command acceleration step
[rad/s]
s2_accel int16 Q6 Speed fluctuation limit [rad/s]
s2_fluctuation_limit int16 Q6 Voltage output delay compensation coefficient
s2_delay int16 - Current offset adjustment time
[ms]
s2_offset_calc_time int16 - Voltage drop correction threshold
[V]
s2_voltage_drop int16 Q6 Voltage drop correction gain
s2_voltage_drop_k int16 Q6 axis current/flux stabilization wait time
[ms]
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Table 3-15 List of Structure(2/3)
Member name Type Content Remarks
MTR_PI_CTRL s2_diff int16 Differential
s2_kp int16 PI control proportional gain
s2_ki int16 PI control integral gain
s2_limit int16 PI control output limit value
s4_refi int32 PI control output value
s4_ilimit int32 PI control output limit value
Table 3-16 List of Structure(3/3)
Member name
Type Q Content Remarks
MTR_PARAMETER s2_mtr_rs int16 Q13 Stator resistance []
s2_mtr_rr int16 Q13 Rotor resistance []
s2_mtr_m int16 Q17 Magnetizing inductance [H]
s2_mtr_ls int16 Q24 Stator leakage inductance [H]
s2_mtr_lr int16 Q24 Rotor leakage inductance [H]
s2_mtr_rr_lr int16 Q11 f4_mtr_rr / f4_mtr_lr
s2_mtr_sigma int16 Q21 1.0 - f4_mtr_m / f4_mtr_ls * f4_mtr_m_lr
s2_mtr_ls_sigma int16 Q23 f4_mtr_ls * f4_mtr_sigma
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3.5 Vector Control Software Macro Definitions Lists of macro definitions used in these control programs are shown below. The macros with a figure in [ ] are used
only in the indicated sample software.
Table 3-17 List of Macro Definitions (1/8)
File name Macro name Definition value Q Remarks
main.h MAX_SPEED CP_MAX_SPEED_RPM
-
Maximum value of the speed command (mechanical angle) [rpm]
MIN_SPEED CP_MIN_SPEED_RPM
-
Minimum value of the speed command (mechanical angle) [rpm]
IQ_PI_KP CP_IQ_PI_KP Q10
axis current PI control proportional gain
IQ_PI_KI CP_IQ_PI_KI Q10
axis current PI control integral gain
SPEED_PI_KP CP_SPEED_PI_KP Q14
Speed PI control proportional gain
SPEED_PI_KI CP_SPEED_PI_KI Q22
Speed PI control integral gain
SPEED_LPF_K CP_SPEED_LPF_K Q14 Speed LPF gain
CURRENT_LPF_K CP_CURRENT_LPF_K Q14 Current LPF gain
STATOR_RESISTANCE MP_STATOR_RESISTANCE Q13 Stator resistance []
ROTOR_RESISTANCE MP_ROTOR_RESISTANCE Q13 Rotor resistance []
MUTUAL_INDUCTANCE MP_MUTUAL_INDUCTANCE Q17 Magnetizing inductance [H]
STATOR_LEAKAGE_INDUCTAN
CE
MP_STATOR_LEAKAGE_INDUC
TANCE Q24
Stator leakage inductance [H]
ROTOR_LEAKAGE_INDUCTANC
E
MP_ROTOR_LEAKAGE_INDUCT
ANCE Q24
Rotor leakage inductance [H]
OFFSET_LPF_K CP_OFFSET_LPF_K Q14 Current offset LPF gain
CTRL_REF_ID CP_CTRL_REF_ID Q12 axis current command [A]
ID_REF_SLIP_LIMIT CP_ID_REF_SLIP_LIMIT
Q12
axis current command limit for slip speed gain calculate
BOOT_ID_UP_TIME CP_BOOT_ID_UP_TIME -
Rise time at axis current startup [ms]
ID_CONST_TIME CP_ID_CONST_TIME -
current/flux stabilization wait time [ms]
ACCEL_MODE0 CP_ACCEL_MODE0 Q6 Acceleration
FLUCTUATION_LIMIT CP_FLUCTUATION_LIMIT Q6 Speed fluctuation limit
DELAY CP_DELAY Q12
Voltage output delay compensation coefficient
OFFSET_CALC_TIME CP_OFFSET_CALC_TIME -
Current offset calculation time [ms]
VOLTAGE_DROP CP_VOLTAGE_DROP Q6
Voltage drop correction threshold [V]
VOLTAGE_DROP_K CP_VOLTAGE_DROP_K Q6 Voltage drop correction gain
POLE_PAIRS MP_POLE_PAIRS -
Constant used for pole pairs count correction
M_CW 0 - Rotation direction
M_CCW 1 -
ICS_INT_LEVEL 6 - ICS interrupt priority level
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Table 3-18 List of Macro Definitions (2/8)
File name Macro name Definition value Remarks
motor_parameter.h MP_POLE_PAIRS 2 Pole pairs count
MP_STATOR_RESISTANCE 2.2 Stator resistance []
MP_ROTOR_RESISTANCE 2.4 Rotor resistance []
MP_MUTUAL_INDUCTANCE 0.2 Magnetizing inductance [H]
MP_STATOR_LEAKAGE_IND
UCTANCE
0.0015 Stator leakage inductance [H]
MP_INDUCTANCE 0.0015 Rotor leakage inductance [H]
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Table 3-19 List of Macro Definitions (3/8)
File name Macro name Definition value Q Remarks
mtr_ctrl_rl78g14_t1102.h MTR_PWM_TIMER_FREQ 64.0 - PWM timer count frequency [MHz]
MTR_CARRIER_FREQ 16.0 - Carrier frequency [kHz]
MTR_DEADTIME 3.0 - Dead time [s]
MTR_DEADTIME_SET MTR_DEADTIME *
MTR_PWM_TIMER_FR
EQ
- Dead time setting
MTR_AD_FREQ 8.0 - A/D converter operating frequency [MHz]
MTR_AD_SAMPLING_CY
CLE
27.5 - A/D sampling cycle count
MTR_AD_SAMPLING_TIM
E
MTR_AD_SAMPLING_
CYCLE /
MTR_AD_FREQ
- A/D sampling time
MTR_AD_TIME_SET MTR_PWM_TIMER_FR
EQ *
MTR_AD_SAMPLING_T
IME
- Setting used to assure the A/D sampling time
MTR_CARRIER_SET (MTR_PWM_TIMER_F
REQ * 1000 /
MTR_CARRIER_FREQ
/ 2)+
MTR_DEADTIME_SET-
2
- Carrier setting
MTR_HALF_CARRIER_SE
T
MTR_CARRIER_SET /
2
- Carrier setting (intermediate value)
MTR_PWM_DUTY_RANG
E
4096 - Range of modulation factor
MTR_PORT_UP P1.5 - U phase (positive phase) output port
MTR_PORT_UN P1.4 - U phase (negative phase) output port
MTR_PORT_VP P1.3 - V phase (positive phase) output port
MTR_PORT_VN P1.1 - V phase (negative phase) output port
MTR_PORT_WP P1.2 - W phase (positive phase) output port
MTR_PORT_WN P1.0 - W phase (negative phase) output port
MTR_ADCCH_IU 0 - U phase current AD convert CH
MTR_ADCCH_IW 1 - W phase current AD convert CH
MTR_ADCCH_VDC 2 - VDC AD convert CH
MTR_ADCCH_VU 3 - U phase voltage AD convert CH
MTR_ADCCH_VV 4 - V phase voltage AD convert CH
MTR_ADCCH_VW 5 - W phase voltage AD convert CH
MTR_ADCCH_IMPTEMPE
RATURE
7 - IPM temperature AD convert CH
MTR_INPUT_V 220.0f * 1.41421 Q6 Power supply voltage [V]
MTR_HALF_VDC MTR_INPUT_V / 2 Q6 Power supply voltage /2 [V]
MTR_IC_GATE_ON_V MTR_INPUT_V * 0.8f Q6 Power supply voltage times 80% [V]
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Table 3-20 List of Macro Definitions (4/8)
File name Macro name Definition value Q Remarks
mtr_ctrl_rl78g14_t1102.h MTR_AD_BIT_SGN 0x8000U - Current value convert
MTR_ADSCALE_CUR (100.0f / 1023) Q18 Current measurement A/D converter resolution
MTR_ADSCALE_VDC (686.8f / 1023) Q14 Inverter bus voltage measurement A/D converter resolution
MTR_ADSCALE_IPMTEM
PERATURE
(5.0f / 1023) Q20 IPM temperature measurement A/D converter resolution
MTR_OVERCURRENT_LI
MIT
4.0 Q12 Current limit value [A]
MTR_OVERVOLTAGE_LI
MIT
400 Q6 Voltage limit value (maximum) [V]
MTR_UNDERVOLTAGE_L
IMIT
85 Q6 Voltage limit value (minimum) [V]
MTR_OVERIPMTEMPERA
TURE_LIMIT
3.0 Q12 IPM temperature limit [V]
MTR_PORT_LED1 P5.2 - LED1 output port
MTR_PORT_LED2 P5.3 - LED2 output port
MTR_LED_ON 0 - Active low
MTR_LED_OFF 1 -
MTR_PORT_IC_GATE P5.5 - Inrush current prevention circuit port
MTR_IC_GATE_ON 1 - Active high
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Table 3-21 List of Macro Definitions (5/8)
File name Macro name Definition value Q Remarks
mtr_3im_less_foc.h
MTR_INT_DECIMATION 1 - Interrupt decimation count
MTR_CTRL_PERIOD (MTR_INT_DECIMATION +
1)/
(MTR_CARRIE
R_FREQ*1000)
Q26 Control period [s]
MTR_CONTROL_FREQ (MTR_CARRIER_FREQ*10
00)/
(MTR_INT_DECIMATION +
1)
- Control frequency [Hz]
MTR_POLE_PAIRS MP_POLE_PAIRS - Pole pairs
MTR_RS MP_STATOR_RESISTANC
E
Q13 Stator resistance []
MTR_RR MP_ROTOR_RESISTANCE Q13 Rotor resistance []
MTR_M MP_MUTUAL_INDUCTANC
E
Q17 Magnetizing inductance [H]
MTR_LLS MP_STATOR_LEAKAGE_I
NDUCTANCE
Q24 Stator leakage inductance [H]
MTR_LLR MP_ROTOR_LEAKAGE_IN
DUCTANCE
Q24 Rotor leakage inductance [H]
MTR_LS MTR_M + MTR_LLS Q17
MTR_LR MTR_M + MTR_LLR Q17
MTR_RR_LR MTR_RR / MTR_LR Q11
MTR_SIGMA 1.0f - MTR_M / MTR_LS *
MTR_M_LR
Q21
MTR_LS_SIGMA MTR_LS * MTR_SIGMA Q23
MTR_1_2PI 0.159155 Q16
MTR_RPM_RAD 3.14159 / 30 Q16
TWOPI 4096 -
MTR_IQ_PI_KP CP_IQ_PI_KP Q10 axis current PI control proportional gain
MTR_IQ_PI_KI CP_IQ_PI_KI Q10 axis current PI control integral gain
MTR_SPEED_PI_KP CP_SPEED_PI_KP Q14 Speed PI control proportional gain
MTR_SPEED_PI_KI CP_SPEED_PI_KI Q22 Speed PI control integral gain
MTR_SPEED_LPF_K CP_SPEED_LPF_K Q14 Speed LPF gain
MTR_CURRENT_LPF_K CP_CURRENT_LPF_K Q14 Current LPF gain
MTR_OFFSET_LPF_K CP_OFFSET_LPF_K Q14 Current offset LPF gain
MTR_LIMIT_IQ 3.0 Q12 Speed PI control output limit value [A]
MTR_I_LIMIT_IQ 3.0 Q28 Speed PI control integral limit value[A]
MTR_MAX_SPEED_RPM CP_MAX_SPEED_RPM - Maximum speed (mechanical angle) [rpm]
MTR_MAX_SPEED_RAD MTR_MAX_SPEED_RPM*
MTR_POLE_PAIRS*MTR_T
WOPI/60
Q6 Maximum speed (electrical angle) [rad/s]
MTR_MIN_SPEED_RPM CP_MIN_SPEED_RPM - Minimum speed (mechanical angle) [rpm]
MTR_MIN_SPEED_RAD MTR_MIN_SPEED_RPM*M
TR_POLE_PAIRS*MTR_TW
OPI/60
Q6 Minimum speed (electrical angle) [rad/s]
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Table 3-22 List of Macro Definitions (6/8)
File name Macro name Definition value Q Remarks
mtr_3im_less_foc.h
MTR_SPEED_LIMIT MTR_MAX_SPEED_RAD*1.
2
Q6 Speed limit value [rad/s]
MTR_LIMIT_STATOR_SP
EED_RAD
MTR_SPEED_L
IMIT
Q6 axis current PI control output limit value [rad/s]
MTR_I_LIMIT_STATOR_
SPEED_RAD
MTR_SPEED_LIMIT Q6 axis current PI control output limit [rad/s]
MTR_CTRL_REF_ID CP_CTRL_REF_ID Q12 axis current command
MTR_ID_REF_SLIP_LIMI
T
CP_ID_REF_SLIP_LIMIT Q12 axis current command limit for slip speed gain calculate[A]
MTR_BOOT_ID_UP_TIM
E
CP_BOOT_ID_UP_TIME - Rise time at axis current startup [ms]
MTR_BOOT_ID_UP_STE
P
CP_CTRL_REF_ID/MTR_B
OOT_ID_UP_TIME
- Step at axis current startup
MTR_ID_CONST_TIME CP_ID_CONST_TIME - axis current/flux stabilization wait time [ms]
MTR_ACCEL_MODE0 CP_ACCEL_MODE0 Q6 Acceleration
MTR_FLUCTUATION_LI
MIT
CP_FLUCTUATION_LIMIT Q6 Speed fluctuation limit [rad/s]
MTR_DELAY CP_DELAY - Phase compensation constant
MTR_ANGLE_COMPENS
ATION
MTR_CTRL_PERIOD*MTR
_DELAY/6.283185
Q16
MTR_OFFSET_CALC_TI
ME
CP_OFFSET_CALC_TIME - Current offset calculation time [ms]
MTR_VOLTAGE_DROP CP_VOLTAGE_DROP Q6 Voltage drop correction value [V]
MTR_VOLTAGE_DROP_
K
CP_VOLTAGE_DROP_K Q6 Voltage drop correction gain
MTR_EVERY_TIME 0 - Calculate current value
MTR_ONE_TIME 1 - Calculate current offset value
(first time only)
MTR_CW 0 - Rotation direction
MTR_CCW 1 -
MTR_FLG_CLR 0 - Flag management
MTR_FLG_SET 1 -
MTR_ID_UP 0 - axis current increases
MTR_ID_CONST 1 - axis current fixed
MTR_ID_CONST_CTRL 2 - Normal operation
MTR_IQ_ZERO 0 - axis current is 0
MTR_IQ_SPEED_PI_OUT
PUT
1 - Normal
MTR_SPEED_ZERO 0 -
MTR_SPEED_CHANGE 1 -
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Table 3-23 List of Macro Definitions (7/8)
File name Macro name Definition value Q Remarks
mtr_3im_less_foc.h
MTR_BOOT_MODE 0x00 - Boot mode
MTR_START_MODE 0x01 - Start mode
MTR_CTRL_MODE 0x02 - Control mode
MTR_ZERO_PEC_MODE 0x00 - Zero position measurement mode
MTR_OPENLOOP_MODE 0x01 - Open loop mode
MTR_HALL_120_MODE 0x02 - Hall sensor 120° operating mode
MTR_LESS_120_MODE 0x03 - BEMF sensorless 120° operating mode
MTR_ENCD_FOC_MODE 0x04 - Encoder vector operating mode
MTR_LESS_FOC_MODE 0x05 - Sensorless vector control mode
MTR_OVER_CURRENT_
ERROR
0x01 - Overcurrent error
MTR_OVER_VOLTAGE_
ERROR
0x02 - Overvoltage error
MTR_OVER_SPEED_ER
ROR
0x03 - Excessive speed error
MTR_TIMEOUT_ERROR 0x04 - Timeout error
MTR_BEMF_ERROR 0x07 - BEMF error
MTR_UNDER_VOLTAGE
_ERROR
0x00 - Low voltage error
MTR_OVER_IPMTEMPE
RATURE_ERROR
0x08 - IPM temperature limit exceeded error
MTR_UNKNOWN_ERRO
R
0xff - Undefined error
MTR_MODE_STOP 0x00 - Stop state
MTR_MODE_RUN 0x01 - Motor running state
MTR_MODE_ERROR 0x02 - Error state
MTR_SIZE_STATE 3 - Number of states
MTR_EVENT_STOP 0x00 - Motor stop event
MTR_EVENT_RUN 0x01 - Motor start event
MTR_EVENT_ERROR 0x02 - Motor error event
MTR_EVENT_RESET 0x03 - Motor reset event
MTR_SIZE_EVENT 4 - Number of events
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Table 3-24 List of Macro Definitions (8/8)
File name Macro name Definition value Remarks
control_parameter.h CP_IQ_PI_KP 4.0 axis current PI control proportional gain
CP_IQ_PI_KI 0.008 axis current PI control integral gain
CP_SPEED_PI_KP 0.01 Speed PI control proportional gain
CP_SPEED_PI_KI 0.001 Speed PI control integral gain
CP_SPEED_LPF_K 0.1 Speed LPF gain
CP_CURRENT_LPF_K 0.1 Current LPF gain
CP_OFFSET_LPF_K 0.01 Current offset LPF gain
CP_MAX_SPEED_RPM 2000 Maximum speed (mechanical angle) [rpm]
CP_MIN_SPEED_RPM 500 Minimum speed (mechanical angle) [rpm]
CP_CTRL_REF_ID 2.2 axis current command[A]
CP_ID_REF_SLIP_LIMIT 0.25 axis current command limit for slip speed gain calculate[A]
CP_BOOT_ID_UP_TIME 100.0 Rise time at axis current startup [ms]
CP_ID_CONST_TIME 500.0 axis current/flux stabilization wait time [ms]
CP_ACCEL_MODE0 0.1 Acceleration during start mode [rad/s2]
CP_FLUCTUATION_LIMIT 20.0 Speed fluctuation limit [rad/s]
CP_DELAY 1.5 Phase delay compensation constant
CP_OFFSET_CALC_TIME 10000 Current offset calculation time
CP_VOLTAGE_DROP 8.0 Voltage drop correction threshold [V]
CP_VOLTAGE_DROP_K 100.0 Voltage drop correction gain
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3.6 Control Flow (Flowcharts)
3.6.1 Main Processing
Figure 3-4 Main Processing
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3.6.2 125 [μs] Cycle Interrupt Handling
Figure 3-5 125 [μs] Cycle Interrupt Handling
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3.6.3 1 [ms] Interrupt Handling
Figure 3-6 1 [ms] Interrupt Handling
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3.6.4 Over Current Detection Interrupt Handling
Figure 3-7 Over Current Detection Interrupt Handling
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4. Development Support Tool: In Circuit Scope
4.1 Overview In the target sample programs described in this application note, user interfaces (rotating/stop command, rotation
speed command, etc.) based on the development support tool ‘In Circuit Scope’ (ICS) can be used. ICS is a tool which displays real-time waveforms on PC of global variables of the program being executed on the target system. Refer to ‘In Circuit Scope manual’ and ‘How to set CubeSuite+ for using ICS’ for usage and more details.
Figure 4-1 In Circuit Scope - Appearance
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4.2 List of Variable for ICS Table 4-1 is a list of variables for ICS. When a change is made to these variables for ICS, the change is not yet
reflected to variables of the motor control layer. The variables of the motor control layer are rewritten when a same value is written to com_s2_enable_write and g_s2_enable_write. Note that the variables with (*) do not depend on com_s2_enable_write and the variables with a figure in [ ] are used only in the indicated sample software.
Table 4-1 List of Variables for ICS
Name of variable for ICS Type Content Reflection destination variable (Variables of motor control
layer)
com_s2_mode_system int16 state management
0: stop mode
1: run mode
3: Reset
This variables value is
reflected in
g_s2_mode_system at the
point it is written.
com_s2_direction int16 Rotation direction g_u1_dir_buff
com_s2_ref_speed_rpm int16 Speed command g_s2_ref_speed_rad
com_s2_kp_speed int16 Speed PI control proportional gain g_s2_kp_speed
com_s2_ki_speed int16 Speed PI control integral gain g_s2_ki_speed
com_s2_kp_iq int16 axis current PI control proportional gain g_s2_kp_iq
com_s2_ki_iq int16 axis current PI control integral gain g_s2_ki_iq
com_s2_speed_lpf_k int16 Speed LPF gain g_s2_speed_lpf_k
com_s2_current_lpf_k int16 Current LPF gain g_s2_current_lpf_k
com_s2_mtr_rs int16 Stator resistance mtr_p.s2_mtr_rs
com_s2_mtr_rr int16 Rotor resistance mtr_p.s2_mtr_rr
com_s2_mtr_m int16 Magnetizing inductance mtr_p.s2_mtr_m
com_s2_mtr_lls int16 Stator leakage inductance mtr_p.s2_mtr_ls
com_s2_mtr_llr int16 Rotor leakage inductance mtr_p.s2_mtr_lr
com_s2_offset_lpf_k int16 Current offset LPF gain g_s2_offset_lpf_k
com_s2_max_speed_rpm int16 Maximum speed g_s2_max_speed_rad
com_s2_min_speed_rpm int16 Minimum speed g_s2_min_speed_rad
com_s2_ctrl_ref_id int16 axis current command g_s2_ctrl_ref_id
com_s2_id_ref_slip_lim Int16 axis current command limit for slip speed
gain calculate
g_s2_id_ref_slip_lim
com_s2_boot_id_up_time int16 Rise time at axis current startup g_s2_boot_id_up_step
com_s2_id_const_time int16 axis current/flux stabilization wait time g_s2_id_const_time
com_s2_accel int16 Speed command acceleration step g_s2_accel
com_s2_fluctuation_limit int16 Speed fluctuation limit g_s2_fluctuation_limit
com_s2_offset_calc_time int16 Current offset adjustment time g_s2_offset_calc_time
com_s2_delay int16 Voltage output delay compensation coefficient g_s2_angle_compensation
com_s2_voltage_drop int16 Voltage drop correction threshold g_s2_voltage_drop
com_s2_voltage_drop_k int16 Voltage drop correction gain g_s2_voltage_drop_k
com_s2_enable_write int16 Variable write enable -
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Website and Support
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Inquiries
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All trademarks and registered trademarks are the property of their respective owners.
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Revision History
Rev. Date Description
Page Summary 1.0 Mar. 16, 2015 — First edition issued
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General Precautions in the Handling of MPU/MCU Products
The following usage notes are applicable to all MPU/MCU products from Renesas. For detailed usage notes on the products covered by this document, refer to the relevant sections of the document as well as any technical updates that have been issued for the products.
1. Handling of Unused Pins
Handle unused pins in accordance with the directions given under Handling of Unused Pins in the manual.
The input pins of CMOS products are generally in the high-impedance state. In operation with an unused pin in the open-circuit state, extra electromagnetic noise is induced in the vicinity of LSI, an associated shoot-through current flows internally, and malfunctions occur due to the false recognition of the pin state as an input signal become possible. Unused pins should be handled as described under Handling of Unused Pins in the manual.
2. Processing at Power-on
The state of the product is undefined at the moment when power is supplied.
The states of internal circuits in the LSI are indeterminate and the states of register settings and pins are undefined at the moment when power is supplied. In a finished product where the reset signal is applied to the external reset pin, the states of pins are not guaranteed from the moment when power is supplied until the reset process is completed. In a similar way, the states of pins in a product that is reset by an on-chip power-on reset function are not guaranteed from the moment when power is supplied until the power reaches the level at which resetting has been specified.
3. Prohibition of Access to Reserved Addresses
Access to reserved addresses is prohibited.
The reserved addresses are provided for the possible future expansion of functions. Do not access these addresses; the correct operation of LSI is not guaranteed if they are accessed.
4. Clock Signals
After applying a reset, only release the reset line after the operating clock signal has become stable. When switching the clock signal during program execution, wait until the target clock signal has stabilized.
When the clock signal is generated with an external resonator (or from an external oscillator) during a reset, ensure that the reset line is only released after full stabilization of the clock signal. Moreover, when switching to a clock signal produced with an external resonator (or by an external oscillator) while program execution is in progress, wait until the target clock signal is stable.
5. Differences between Products
Before changing from one product to another, i.e. to a product with a different part number, confirm that the change will not lead to problems.
The characteristics of an MPU or MCU in the same group but having a different part number may differ in terms of the internal memory capacity, layout pattern, and other factors, which can affect the ranges of electrical characteristics, such as characteristic values, operating margins, immunity to noise, and amount of radiated noise. When changing to a product with a different part number, implement a system-evaluation test for the given product.
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